| 一种空间大容差末端执行器设计方案与仿真分析 |
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| 引用本文： | 丰飞,刘伊威,刘宏,蔡鹤皋.一种空间大容差末端执行器设计方案与仿真分析[J].机器人,2011(6):691-699. |
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| 作者姓名： | 丰飞 刘伊威 刘宏 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学机器人系统与技术国家重点实验室; |
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| 基金项目： | 国家863计划资助项目(2006AA04Z228) |
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| 摘 要： | 根据大型空间机械臂及其在轨服务操作任务的特点,提出了大型空间机械臂末端执行器大容差和软捕获的基本性能要求,同时给出了实现上述基本性能的方法.在此基础上,提出了一种具有大容差性能的机械臂末端执行器设计方案.为了准确获得该类末端执行器的性能指标,完成了该类末端执行器的详细设计,也为后期的动力学仿真分析提供准确的3维模型.最...
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| 关 键 词： | 对接机构 末端执行器 大容差:软捕获 |
Design and Simulation Analysis of a Space End-effector with Large Misalignment Tolerance |
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| FENG Fei,LIU Yiwei,LIU Hong,CAI Hegao.Design and Simulation Analysis of a Space End-effector with Large Misalignment Tolerance[J].Robot,2011(6):691-699. |
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| Authors: | FENG Fei LIU Yiwei LIU Hong CAI Hegao |
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| Affiliation: | FENG Fei,LIU Yiwei,LIU Hong,CAI Hegao (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China) |
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| Abstract: | According to the features of the large space manipulator and its manipulation task of on-orbit-servicing,the basic requirements of large misalignment tolerance and soft capturing for the end-effector of large space manipulator are presented.And the ways to meet the above-mentioned requirements are proposed.A design scheme of end-effector with large misalignment tolerance capability is also presented based on these requirements and ways.And the elaborate design of the proposed end-effector scheme is complete... |
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| Keywords: | docking mechanism end-effector large misalignment tolerance soft capturing |
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